Leonard Hall
d9529e1be3
AC_AttitudeControl: AC_PosControl: Remove extra accel limit
2021-06-21 14:14:23 +09:00
Peter Hall
716ceb93c5
AC_AttitudeControl: add thrust vector methods to 6DoF multi
2021-06-21 09:58:05 +09:00
Hwurzburg
27620322ec
AC_AttitudeControl: remove % as units on params that are unitless
2021-05-30 22:38:27 -07:00
Hwurzburg
3f4d4e45fc
AC_AttitudeControl: correct param ranges to accomodate TradHeli defaults
2021-05-28 09:44:11 +09:00
Randy Mackay
d9c68031fa
AC_PosControl: write_log checks xy and z controllers are active
...
This allows write_log to be write PSCZ messages for modes with onlyi vertical control (e.g. althold) without also logging out-of-date PSC messages
2021-05-26 18:58:31 +10:00
Leonard Hall
359cf8ed0e
AC_AttitudeControl: Rename set_attitude_target_to_current_attitude
2021-05-26 16:03:05 +09:00
Leonard Hall
fb83f98b77
AC_AttitudeControl: Set rates to zero during arming procedure for acro
2021-05-26 16:03:05 +09:00
Leonard Hall
34e342f658
AC_AttitudeControl: Rename set_yaw_target_to_current_heading
2021-05-26 16:03:05 +09:00
Leonard Hall
b489dd5fe1
AC_AttitudeControl: Set yaw rate to zero during arming procedure
2021-05-26 16:03:05 +09:00
Hwurzburg
ff931c7490
AC_AttitudeControl: make centideg metadata incr and range consistent
2021-05-25 10:10:18 +10:00
Leonard Hall
491350c1d6
AC_AttitudeControl: Fix before squash
2021-05-24 20:13:37 +10:00
Andrew Tridgell
8213fc5277
AC_AttitudeControl: prevent panic on SITL when no lock-step scheduling
...
this disables the internal error for bad timing on SITL types without
lock-step scheduling, such as RealFlight
2021-05-24 20:13:37 +10:00
Leonard Hall
92e05e8c4f
AC_AttitudeControl: PosControl fixes
2021-05-24 20:13:37 +10:00
Leonard Hall
7f1f29c1ae
AC_PosControl: rename get_roll_cd get_pitch_cd
2021-05-12 17:16:00 +10:00
Leonard Hall
f24a0988f4
AC_PosControl: minor formatting fixes
2021-05-12 17:16:00 +10:00
Leonard Hall
772cec5101
AC_AttitudeControl: minor format fix
2021-05-12 17:16:00 +10:00
Leonard Hall
4158c37cfa
AC_PosControl: Calculate heading
2021-04-27 17:13:55 +09:00
Leonard Hall
e253c94f63
AC_AttitudeControl: Remove Unused Function
2021-04-27 17:13:55 +09:00
Leonard Hall
bb46f7a947
AC_PosControl: Thrust Vector output
2021-04-27 17:13:55 +09:00
Leonard Hall
1fb2a95486
AC_AttitudeController: Thrust Vector attitude control
2021-04-27 17:13:55 +09:00
Peter Barker
a3c329b182
AC_AttitudeControl: make parameter renames consistent
2021-04-21 12:17:42 +10:00
Leonard Hall
b43c7f4ed1
AC_AttitudeControl: Parameter rename (non-functional)
2021-04-21 12:17:42 +10:00
hs293go
de0c57de77
AC_AttitudeControl: Use Quaternion::operator* for vector rotation
...
Replace all instances of the q*v*q.formula() or conversion to rotation
matrix + matrix multiply by calling Quaternion::operator* on a
vector
2021-04-21 12:17:42 +10:00
Leonard Hall
86a157ce59
AC_AttitudeControl: Seperate thrust vector correction into a separate function
2021-04-21 12:17:42 +10:00
Leonard Hall
c28d103afe
AC_AttitudeControl: Fix Angular velocity rotation to body frame
...
Thanks to BreederBai for higlighting this in issue #17059
Thanks to esaldiran and Hs293Go for helping check the math.
2021-04-19 14:48:59 +10:00
Leonard Hall
6a8ba6f329
AC_PosControl_Sub: update for new position controller changes
2021-04-03 12:07:59 +09:00
Randy Mackay
cb0d37586e
AC_PosControl: use Vector limit_length and formatting fixes
2021-04-03 12:07:59 +09:00
Leonard Hall
ba00c2edd6
AC_PosControl: alt hold controller update
...
pass accel limit top_pos_xy
prearm check updated
fix PSC_VELZ_FLTE/D param descriptions
fix VelZ FF param desc
limit maximum desired z component
integrate AC_PID_Basic
2021-04-03 12:07:59 +09:00
Leonard Hall
b73ad1a1bc
AC_PosControl: remove unused sqrt_controller_3D
2021-04-03 12:07:59 +09:00
Leonard Hall
49da872218
AC PosControl: fix position error get functions
2021-04-03 12:07:59 +09:00
Randy Mackay
ae66803148
AC_AttitudeControl: minor optimisation and comment fixes
2021-04-03 12:07:59 +09:00
Leonard Hall
d6e3495eca
AC_AttitudeControl: support for feedforward rate in angle request for yaw
2021-04-03 12:07:59 +09:00
Peter Hall
aa75fc2c3d
AC_PosControl: use target lean angles rather than true for init
2021-03-17 08:13:11 +09:00
Peter Hall
a43db51440
AC_AttitudeControl: add get_att_target_euler_rad function
2021-03-17 08:13:11 +09:00
Leonard Hall
e788d63686
AC_AttitudeControl: clear up comment for inertial_frame_reset
2021-02-17 21:19:18 +09:00
Leonard Hall
f53242b323
AC_AttitudeControl: rename thrust_heading_rotation_angles args
2021-02-10 18:35:58 +11:00
Leonard Hall
ad6e2eeed8
AC_AttitudeControl: remove feed-forward from run_quat
2021-02-10 18:35:58 +11:00
Leonard Hall
8ace1bfad1
AC_PosControl: const local vars and remove todo
2021-02-10 13:26:23 +09:00
Randy Mackay
0703a1cf93
AC_PosControl: add PSCZ logging
2021-02-09 19:33:52 +09:00
Randy Mackay
9f914d9e7d
AC_PosControl: add get_z_accel_cmss helper function
2021-02-09 19:33:52 +09:00
Iampete1
7d5e5f8dd7
AC_AttitudeControl: add SITL panic to remind us to implent the quarternion
2021-02-09 12:43:54 +09:00
Iampete1
791e68b4ef
AC_AttitudeControl: add 6DoF support
2021-02-09 12:43:54 +09:00
Patrick José Pereira
e3d018c401
AC_AttitudeControl: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Leonard Hall
25fff17e48
AC_AttitudeControl: constify some local variables
2021-01-22 14:22:18 +09:00
Randy Mackay
031be010ac
AC_AttitudeControl: tailsitter sets target rates more efficiently
2021-01-20 18:21:12 +11:00
Randy Mackay
6320338771
AC_PosControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59
AC_AttitudeControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
murata
d7533843d5
AC_AttitudeControl: Set the gravitational acceleration value to the defined value
2021-01-05 09:11:14 +09:00
bnsgeyer
04e2cceaff
AC_AttitudeControl: Tradheli support for integrator management and hover collective learning
2020-12-21 23:33:48 -05:00
Mark Whitehorn
7446a9c33c
AC_AttitudeControl: make relax_attitude_controllers() non-virtual
2020-12-21 12:56:24 +11:00
Mark Whitehorn
cc2c631d23
AC_AttitudeControl: add AC_AttitudeControl_TS
...
move tailsitter body-frame roll input method to new subclass
override relax_attitude_controllers in AttitudeControl_TS
2020-12-21 12:56:24 +11:00
Randy Mackay
d6869b9234
AC_PosControl: fix typo in posxy_p param desc
2020-11-05 14:59:00 +09:00
Andrew Tridgell
0a7c628355
AC_AttitudeControl: added SMAX param docs
2020-10-25 10:32:48 +11:00
Randy Mackay
4ed486bb92
AC_AttitudeControl: revert Add PosControl PID logging
2020-09-12 08:10:33 +09:00
Iampete1
c109df3dd5
AC_AttitudeControl: Add PosControl PID logging
2020-09-11 10:12:08 +10:00
Iampete1
e955b431ef
AC_PosControl: move to structure logging for PSC
2020-09-11 10:12:08 +10:00
Iampete1
c27bdafea4
AC_PosControl: correct VELXY_D_FILT Description
2020-06-23 11:40:12 +09:00
Leonard Hall
edadbae240
AC_AttitudeControl: Handle zero accel value correctly in angle correction.
2020-06-23 08:21:47 +09:00
Randy Mackay
1498e4c037
AC_AttitudeControl: remove unused macro
2020-04-27 09:39:46 +09:00
Rishabh
6a98ab569e
AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller()
2020-04-21 09:22:45 +10:00
Peter Barker
afc0fbc516
AC_AttitudeControl: add CTRL log message documentation
2020-04-12 08:36:48 +10:00
Peter Barker
e477f6c840
AC_PosControl: add documentation for PSC log message
2020-04-06 10:46:45 +10:00
Randy Mackay
06b62107c7
AC_PosControl: move freeze_ff_z to be with other z-axis methods
...
Also minor comment fix to get_stopping_point_xy
2020-03-11 10:39:18 +09:00
Leonard Hall
29332ac112
AC_PosControl: add relax_velocity_controller_xy
2020-03-11 10:39:18 +09:00
Bill Geyer
bf345b0dd4
AC_AttitudeControlHeli: update filter parameter desc mins
2020-02-26 08:02:27 +09:00
Randy Mackay
aff854f485
AC_AttitudeControl: update param ranges
2020-02-26 08:02:27 +09:00
Randy Mackay
fc2e15651e
AC_PosControl: allow smaller changes in max speed and accel
...
also small changes in max speed for z-axis
2020-02-22 08:53:41 +09:00
Randy Mackay
e36d4d19e2
AC_AttitudeControl_Heli: fix VFF and ILMI param descriptions
2020-02-14 09:20:17 +09:00
Randy Mackay
5e60ae8a26
AC_PosControl: add missing ACCZ param descriptions
2020-02-14 09:20:11 +09:00
Randy Mackay
84e6c59fdd
AC_AttitudeControlHeli: fix update_althold_lean_angle_max use of throttle_in
2020-01-29 10:59:28 +09:00
Randy Mackay
3c8aa955d5
AC_AttitudeControlSub: fix update_althold_lean_angle_max use of throttle_in
2020-01-29 10:59:27 +09:00
Leonardo Felipe L. S. dos Santos
07f45e1ef9
AC_AttitudeControlMulti: fix update_althold_lean_angle_max use of
...
throttle_in
2020-01-29 10:58:56 +09:00
Randy Mackay
b9ff846162
AC_AttitudeControl: remove old RAT_FILT param desc
2020-01-21 13:06:56 +09:00
Bill Geyer
7ee4054515
AC_AttitudeControl: tradheli-Remove Param descriptions
...
This remove the old filter param description from AC 3.6 and adds the new filter param descriptions.
2020-01-21 11:02:38 +09:00
Peter Barker
d6dbdd58d3
AC_AttitudeControl: adjust for some methods on AP_AHRS become non-const
2020-01-21 11:53:18 +11:00
Mark Whitehorn
7e8aecac50
AC_AttitudeControl: simplify body-frame roll axis swapping
2019-12-18 08:33:29 +11:00
Mark Whitehorn
bb9b116574
AC_AttitudeControl: fix argument order in tailsitter bodyframe roll input methods
...
increase allowed yaw error in tailsitter bodyframe roll modes
add combined bodyframe roll method
delete old versions of body-frame roll input methods
invert mc_controls
2019-12-18 08:33:29 +11:00
Willian Galvani
678fd8de1d
AC_PosControl_Sub: do not reset accel_z integrator when relaxing
...
Doing so caused the ROV to dive and slowly go back to the altitude
setpoint
2019-12-02 13:26:27 -05:00
Luke.Qin
c8ef863e6d
AC_PosControl: fix minor bug for set_max_speed_z()
2019-11-26 19:28:38 +09:00
Leonard Hall
3ca713fdcb
AC_AttitudeControl: limit ATC_MOT_MIX_MAX in case of a fly away
2019-10-31 12:23:48 +08:00
Leonard Hall
368a8028ae
Heli: Prevent loss of yaw control during large angle recovery
2019-10-31 11:53:27 +08:00
Leonard Hall
5afb5b4956
AC_AttitudeControl: Prevent loss of yaw control during large angle recovery.
2019-10-31 11:53:27 +08:00
Leonard Hall
e5f724bc3a
AC_PosControl: add high vibration compensation
2019-10-18 11:15:25 +09:00
Leonard Hall
5acfc77a3c
AC_AttitudeControl: Support for Standby functions
2019-10-17 14:57:18 +09:00
bnsgeyer
d1a0635ec2
AC_AttitudeControl: incorporate SysID into tradheli
2019-10-16 08:17:09 +09:00
Leonard Hall
0834726b48
AC_AttitudeControl: Support System ID tests
2019-10-16 08:17:09 +09:00
Peter Barker
8bb51f4b7d
AC_AttitudeControl: adjust for new vehicle base class
2019-10-08 11:26:04 +11:00
Leonard Hall
7f5d6662b3
AC_AttitudeControl: Support seperate roll and pitch limits
2019-08-03 12:06:32 +09:00
Leonard Hall
979b54b33e
AC_PosControl: support update to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
30746267ec
AC_AttitudeControl_Heli: support for updates to AC_PID library
...
includes rename get_leaky_i to update_leaky_i
2019-07-25 17:38:15 +09:00
Leonard Hall
bbe33e38f3
AC_AttitudeControl: support for upgrade to PID object
2019-07-25 17:38:15 +09:00
Leonard Hall
78be1067a8
AC_AttitudeControl: Alt Hold init bug
2019-07-17 09:09:25 +09:00
Mark Whitehorn
ce1a082956
Plane: limit yaw error in bodyframe roll control
2019-04-30 08:51:24 +10:00
Mark Whitehorn
732ed17f2f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-04-23 09:15:55 +10:00
Mark Whitehorn
d72f2feeb5
AC_AttitudeControl: constrain input euler roll and pitch in bodyframe roll controls
...
and limit integrated error in bf_roll_pitch_yaw_3
2019-04-23 09:15:55 +10:00
Leonard Hall
32cc642b2e
AC_AttitudeControl: Formatting Changes
2019-04-20 09:31:56 +09:00
Randy Mackay
4e494d5a63
AC_PosControl: minor comment fix to pre-arm checks
2019-04-16 11:23:46 +09:00
Randy Mackay
0624f6b8c3
AC_PosControl: minor comment fix
2019-04-16 11:23:46 +09:00
Leonard Hall
c00ee6aac5
AC_AttitudeControl: increase rate I gain to match P gain
2019-04-12 09:28:24 +09:00
Leonard Hall
e170beaf8c
AC_AttitudeControl: reduce throttle mix for manual modes
2019-04-12 09:28:22 +09:00
Peter Barker
9c9ebb908c
AC_AttitudeControl: store integrators temps in correct type
2019-04-10 09:37:19 +09:00
Peter Barker
70aed0f29c
AC_AttitudeControl: store acro passthrough values as float
...
The function which sets these has floats, and the function we send them
to uses floats... so store them as floats...
2019-04-10 09:37:19 +09:00
Leonard Hall
6e76dff930
AC_AttitudeControl: remove unused set_throttle_out_unstabilized
2019-04-08 09:42:21 +09:00
Mark Whitehorn
b7957e820f
AC_AttitudeControl: bodyframe roll log target attitude bugfix
2019-03-30 10:32:24 +11:00
Tom Pittenger
ce872d83a4
AC_AttitudeControl: rename dataflash to logger
2019-03-28 16:40:57 +11:00
Patrick José Pereira
6152f31c1e
AC_PosControl_Sub: Add new relax_alt_hold_controllers
...
When changing from manual to alt hold controller it's necessary to hold the I term
since this will help to fix the altitude with vehicles that are not neutral buoyancy
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2019-03-26 13:37:18 -04:00
Mark Whitehorn
55047324ac
AC_AttitudeControl: add new tailsitter bodyframe roll option
2019-03-26 14:50:37 +11:00
Mark Whitehorn
4e9b6d1919
AC_AttitudeControl: improve tailsitter bodyframe roll control
2019-03-26 14:50:37 +11:00
Peter Barker
eb1fc3107c
AC_PosControl: log PSC data in metres in place of centimetres
2019-03-26 10:18:05 +11:00
Mark Whitehorn
1c52458d72
AC_AttitudeControl: use new method get_quat_body_to_ned()
2019-03-19 10:46:25 +11:00
Mark Whitehorn
20bbf99b28
AC_AttitudeControl: add body-frame yaw mode for tailsitters
2019-03-06 15:48:51 +11:00
Peter Barker
50d95943e3
AC_AttitudeControl: add pre-arm checks
2019-03-06 10:36:32 +09:00
Randy Mackay
8710526894
AC_PosControl: constify dt calcs
2019-01-30 15:58:34 +09:00
Randy Mackay
b14be4e8ae
AC_PosControl: increase accuracy of dt calcs
2019-01-30 15:58:34 +09:00
Peter Barker
6fc76a32af
GLOBAL: use AP::logger() and strip redundant Log_ from methods
2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f
GLOBAL: rename DataFlash_Class to AP_Logger
2019-01-18 18:08:20 +11:00
Pierre Kancir
96e629d83e
AC_AttitudeControl: pass vector by const reference
2018-12-22 08:31:32 +09:00
Leonard Hall
8d572e8565
AC_AttitudeControl: Fix Autotune high hover throttle based limits
2018-12-21 22:17:52 +11:00
Randy Mackay
ba3303dc61
AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target
...
This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
2018-11-26 09:30:32 +09:00
Peter Barker
7e3ca19308
AC_AttitudeControl: add override keyword in many places
2018-11-08 11:30:12 +11:00
murata
6db54bd65e
AC_AttitudeControl: Change from sqrt to safe_sqrt
2018-11-03 15:23:15 +09:00
Peter Barker
dcd930497a
AC_AttitudeControl: AC_PosControl: avoid calling norm()
...
The result of this won't be used as often as this loop is called
2018-10-30 09:00:23 +09:00
Michael du Breuil
5846a54c17
AC_AttitudeControl: Fix copy paste param doc error
2018-10-25 09:50:00 +11:00
Peter Barker
04e4484d96
AC_AttitudeControl: correct old and misleading comments
2018-10-23 09:40:21 +11:00
Leonard Hall
96a8bcf641
AC_AttitudeControl: limit gyro correction to 45 degrees error
2018-10-16 00:44:50 +09:00
Leonard Hall
acaefe9316
AC_AttitudeControl: remove output limits
2018-10-16 00:44:50 +09:00
Peter Barker
dabe8a13f7
AC_AttitudeControl: use EKF singleton to get ekfNavVelGainScaler
2018-10-09 10:47:38 +11:00
Michael du Breuil
1d13aff711
AC_AttitudeControl: Rename several set_speed and set_accel functions
2018-09-20 15:15:45 -07:00
Leonard Hall
34c0656675
AC_AttitudeControl: Add missing variable initalisations
2018-09-15 11:00:29 +10:00
Michael du Breuil
eb1f3b205f
AC_AttitudeControl: Use reset_rate_controller_I_terms() helper
2018-09-14 12:16:58 +09:00
Leonard Hall
b15b5516cb
AC_PosControl: Fix divide by zero check in limit_vector_length
2018-09-12 15:51:30 +09:00
Leonard Hall
706ff85be7
AC_AttitudeControl: Add minimum angle limit for get_althold_lean_angle_max
2018-09-12 15:51:30 +09:00
Leonard Hall
5863b84c35
AC_PosControl: reduce glitch on init
2018-09-04 13:37:28 +09:00
Andrew Tridgell
9766c4ed26
AC_AttitudeControl: fixed use of double precision maths
2018-05-07 11:43:23 +10:00
Jacob Walser
6ae1bf4cf4
AC_AttitudeControl: Allow zero gains for Sub
...
Close bluerobotics/ardusub#70
2018-04-25 17:18:26 +09:00
Michael du Breuil
334ff0fb66
AC_AttitudeControl: Prevent DCM fallback from triggering a flyaway
2018-03-31 13:40:52 +09:00
Randy Mackay
33f437a72c
AC_AttitudeControl: use multiply instead of divide
2018-03-16 13:50:57 +09:00
Leonard Hall
c53ba22daa
AC_AttitudeControl: add new rate only attitude control
2018-03-16 13:50:57 +09:00
Randy Mackay
ac82a37728
AC_PosControl: run horiz control at main loop rate
2018-03-16 13:50:57 +09:00
Randy Mackay
13007e2a07
AC_PosControl: dataflash logging of PSC message
2018-03-16 13:50:57 +09:00
Randy Mackay
69cfea4057
AC_PosControl: use float for local consts
2018-03-16 13:50:57 +09:00
Randy Mackay
b988a6ca08
AC_AttitudeControl: add units to INPUT_TC param desc
2018-03-16 13:50:57 +09:00
Leonard Hall
dadc6a63c4
AC_PosControl: add set_leash_length_xy
2018-03-16 13:50:57 +09:00
Leonard Hall
e5bc2b26fe
AC_PosControl: add lean angle max
2018-03-16 13:50:57 +09:00
Leonard Hall
0f3645b061
AC_PosControl: increase velocity gains
2018-03-16 13:50:57 +09:00
Leonard Hall
7ec043502f
AC_PosControl: add accel limit to xy controller
2018-03-16 13:50:57 +09:00
Leonard Hall
bd13704f6f
AC_PosControl: update init for guided
2018-03-16 13:50:57 +09:00
Leonard Hall
85b7f06554
AC_PosControl: combine z position control into single method
2018-03-16 13:50:57 +09:00
Leonard Hall
993e638752
AC_PosControl: combine xy position control into single method
...
Also always limit lean angle to maintain altitude
2018-03-16 13:50:57 +09:00
Leonard Hall
74bb7616a7
AC_PosControl: add accel feedforward
...
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
2018-03-16 13:50:57 +09:00
Randy Mackay
9aa6415e1c
AC_AttitudeControl: use is_positive and is_negative
2018-03-16 13:50:57 +09:00
Randy Mackay
b3de52dc59
AC_AttitudeControl: minor comment fix
2018-03-16 13:50:57 +09:00
Leonard Hall
05418d3d29
AC_AttitudeControl: add EKF reset handling
2018-03-16 13:50:57 +09:00
Leonard Hall
8c45345863
AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller
...
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
2018-03-16 13:50:57 +09:00
Leonard Hall
1e9e12e866
AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat
...
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
2018-03-16 13:50:57 +09:00
Randy Mackay
59a2445ad3
AC_AttitudeControl: replace smoothing gain with INPUT_TC
2018-03-16 13:50:57 +09:00
Leonard Hall
e1e224b68b
AC_AttitudeControl: add angular velocity limit
2018-03-16 13:50:57 +09:00
Leonard Hall
ee82943f85
AC_AttitudeControl: add input_shaping_rate_predictor
2018-03-16 13:50:57 +09:00
Leonard Hall
6175a896ee
AC_AttitudeControl: add set smoothing gain
...
Smoothing gain value should be set once when entering a mode
2018-03-16 13:50:57 +09:00
Leonard Hall
213f7a4061
AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods
...
Also constify existing get_accel_roll/pitch/yaw_max methods
2018-03-16 13:50:57 +09:00
Randy Mackay
3badcdcfba
AC_PosControl: default gains for sub
2018-01-31 08:48:21 +09:00
Randy Mackay
61933c6f1c
AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ
2018-01-31 08:48:21 +09:00
Leonard Hall
692e6518cc
AC_AttitudeControl: update param desc values for large copters
2018-01-27 11:54:04 +09:00
Leonard Hall
691abab95e
AC_AttitudeControl: Update parameter ranges
2018-01-27 11:38:09 +09:00
Randy Mackay
9c00eb3d5f
AC_PosControl_Sub: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
c70d3e0ab8
AC_PosControl: move pids to be local
2018-01-23 12:00:43 +09:00
Randy Mackay
00037fd50e
AC_PosControl_Sub: replace velocity pi with local pid
2018-01-23 12:00:43 +09:00
Randy Mackay
3a73ff1e2e
AC_PosControl: replace velocity control with local 2-axis PID
2018-01-23 12:00:43 +09:00
Leonard Hall
e249e06714
AC_PosControl: minor enhancement to lean_angles_to_accel
2018-01-20 09:49:58 +09:00
Leonard Hall
d5976442f8
AC_PosControl: minor comment change
...
non-functional change
2018-01-19 15:40:32 +09:00
Leonard Hall
3ada0f32b0
AC_AttitudeControl: minor comment update
...
Non-functional change
2018-01-19 15:40:24 +09:00
Leonard Hall
b9ed8b292a
AC_PosControl: pass dt to att control sqrt_controller
2018-01-16 12:13:48 +09:00
Leonard Hall
62cc25022c
AC_AttitudeControl: protect against overshoot in sqrt controller
2018-01-16 12:13:48 +09:00
Leonard Hall
75de0cb4ef
AC_AttitudeControl: sqrt_controller accepts dt
2018-01-16 12:13:48 +09:00
Leonard Hall
cddd815a75
AC_AttitudeControl: comment thrust_heading_rotation_angles
...
non-functional change
2018-01-12 15:20:47 +09:00
Leonard Hall
3e0c24adf9
AC_PosControl: remove out-of-date comments
2018-01-11 21:18:34 +09:00
ChristopherOlson
569f55f5c6
AC_AttitudeControl:TradHeli - fix for alt_hold angle limiter active at hover collective in Traditional Helicopters
...
add definition for max collective/throttle for helicopters that compensates for negative collective pitch range
and sets proper collective overhead before alt_hold angle limiter becomes effective
2017-12-14 20:46:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
fa4427fbce
AC_AttitudeControl: Add AC_PosControl::get_bearing_to_target() method
2017-12-05 09:17:15 +09:00
Leonard Hall
bd284d9fd7
AC_PosControl: correct lean-angle-to-accel formula
...
Thanks to @luweikxy for finding this issue!
2017-11-24 09:12:00 +09:00
Leonard Hall
ebd864d2d2
AC_PosControl: minor update to comments
2017-11-16 09:46:28 +09:00
Randy Mackay
6315e6eb45
AC_AttitudeControl: remove unused get_tilt_limit_rad
2017-11-15 20:22:02 +09:00
bnsgeyer
e8173f27df
AC_AttitudeControl: reset target attitude
...
added method to reset current vehicle attitude to support swash
behaviors in Trad Heli
2017-10-28 12:31:06 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7c2c4ff2c
AC_AttitudeControl: use floating-point multiplication instead of a more expensive floating-point division
2017-10-23 09:20:17 -07:00
Andrew Tridgell
f2efea4e1d
AC_AttitudeControl: added inverted flight support
...
for helis
2017-10-03 10:16:41 +11:00
Andrew Tridgell
99aad41955
AC_AttitudeControl: added a update_vel_controller_xy() API
...
this allows for just XY control of velocity for quadplanes
2017-09-09 08:14:09 +10:00
Andrew Tridgell
1a25087dd5
AC_AttitudeControl: fixed PIRO_COMP index
...
this is a new conflict due to stricter checking in AP_Param
2017-08-14 09:28:57 +09:00
Leonard Hall
ed0063d10d
AC_AttControl: save accel max using shorter set_and_save
...
no functional change
2017-06-22 15:20:16 +09:00
Leonard Hall
0544cf1d82
AC_AttControl: add step input for autotune
2017-06-22 15:18:04 +09:00
Peter Barker
d56eca036d
AC_AttitudeControl: correct parameter markup
2017-06-05 21:02:30 +10:00
Leonard Hall
ad74769fb7
AC_AttControl: adjust default rate IMAX and Yaw Filt
...
Increase Roll, Pitch and Yaw IMAX from 0.444 or 0.222 to 0.5
Decrease Yaw Filter from 5hz to 2.5hz based on the results of autotunes on many vehicles which always seems to produce values between 2 and 3hz
2017-06-01 10:08:41 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
188dfb6936
AC_AttitudeControl: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Randy Mackay
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
...
Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +09:00
Andrew Tridgell
fe3e7e8153
AC_AttitudeControl: added get_throttle_mix()
...
and when we use set_throttle_mix_value(), set both desired and actual
thanks to Leonard for the suggestions
2017-04-19 09:08:43 +10:00
Randy Mackay
132979b12f
AC_PosControl: protect against POS_Z_P, ACCEL_Z_P divide-by-zero
2017-03-15 09:22:23 +09:00
Randy Mackay
67097c8d59
AC_AttitudeControl: use gyro_latest
...
This allows moving the attitude control before the ahrs/ekf update
We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions. We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
2017-03-03 13:14:28 +11:00
Randy Mackay
d79403707b
AC_AttControl: add feed forward param descriptions
...
No functional change
2017-03-01 14:59:44 +09:00
Andrew Tridgell
e5ed20d6f7
AC_AttitudeControl: added set_throttle_mix_value()
...
used by quadplane
2017-02-26 09:20:51 +11:00
Jacob Walser
0e124d0be5
AC_PosControl: Add AC_PosControl_Sub class
2017-02-21 11:26:14 +11:00
Jacob Walser
925fa5d214
AC_AttitudeControl: Add AC_AttitudeControl_Sub class
2017-02-21 11:26:14 +11:00